// term.h

#ifndef TERM_H
#define TERM_H

#include "motor.h"
#include <pthread.h>

/**************************** 电机命令 ****************************/
typedef struct {
  int target_pos[MOTOR_NUM];
  int actual_pos[MOTOR_NUM];
  int previous_mode;
  int mode;
  int state[MOTOR_NUM];
} MotorSet;

typedef struct {
  double x;
  double y;
  double z;
  double Rx;
  double Ry;
  double Rz;
} Pose;
// 队列接口
void updateStatues(MotorSet *cmd);
int term_init(void);
#endif // TERM_H
